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OSQZSS 2016-04-23 14:08:45 +09:00
parent 887079b309
commit 83f111059d
2 changed files with 164 additions and 165 deletions
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174
gpssim.c
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@ -11,76 +11,7 @@
#else #else
#include <unistd.h> #include <unistd.h>
#endif #endif
#include "gpssim.h"
#ifndef bool
typedef int bool;
#define true 1
#define false 0
#endif
/*! \brief Maximum length of a line in a text file (RINEX, motion) */
#define MAX_CHAR (100)
/*! \brief Maximum number of satellites in RINEX file */
#define MAX_SAT (32)
/*! \brief Maximum number of channels we simulate */
#define MAX_CHAN (16)
/*! \brief Maximum number of user motion points */
#define USER_MOTION_SIZE (3000) // max duration at 10Hz
/*! \brief Number of subframes */
#define N_SBF (5) // 5 subframes per frame
/*! \brief Number of words per subframe */
#define N_DWRD_SBF (10) // 10 word per subframe
/*! \brief Number of words */
#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size
/*! \brief C/A code sequence length */
#define CA_SEQ_LEN (1023)
#define SECONDS_IN_WEEK 604800.0
#define SECONDS_IN_HALF_WEEK 302400.0
#define SECONDS_IN_DAY 86400.0
#define SECONDS_IN_HOUR 3600.0
#define SECONDS_IN_MINUTE 60.0
#define POW2_M5 0.03125
#define POW2_M19 1.907348632812500e-6
#define POW2_M29 1.862645149230957e-9
#define POW2_M31 4.656612873077393e-10
#define POW2_M33 1.164153218269348e-10
#define POW2_M43 1.136868377216160e-13
#define POW2_M55 2.775557561562891e-17
// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
#define GM_EARTH 3.986005e14
#define OMEGA_EARTH 7.2921151467e-5
#define PI 3.1415926535898
#define WGS84_RADIUS 6378137.0
#define WGS84_ECCENTRICITY 0.0818191908426
#define R2D 57.2957795131
#define SPEED_OF_LIGHT 2.99792458e8
#define LAMBDA_L1 0.190293672798365
/*! \brief GPS L1 Carrier frequency */
#define CARR_FREQ (1575.42e6)
/*! \brief C/A code frequency */
#define CODE_FREQ (1.023e6)
#define CARR_TO_CODE (1.0/1540.0)
// Sampling data format
#define SC01 (1)
#define SC08 (8)
#define SC16 (16)
#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
int sinTable512[] = { int sinTable512[] = {
2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47, 2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
@ -162,94 +93,6 @@ double ant_pat_db[37] = {
int allocatedSat[MAX_SAT]; int allocatedSat[MAX_SAT];
/*! \file gpssim.c
* \brief GPS Satellite Simulator
*/
/*! \brief Structure representing GPS time */
typedef struct
{
int week; /*!< GPS week number (since January 1980) */
double sec; /*!< second inside the GPS \a week */
} gpstime_t;
/*! \brief Structure repreenting UTC time */
typedef struct
{
int y; /*!< Calendar year */
int m; /*!< Calendar month */
int d; /*!< Calendar day */
int hh; /*!< Calendar hour */
int mm; /*!< Calendar minutes */
double sec; /*!< Calendar seconds */
} datetime_t;
/*! \brief Structure representing ephemeris of a single satellite */
typedef struct
{
int vflg; /*!< Valid Flag */
datetime_t t;
gpstime_t toc; /*!< Time of Clock */
gpstime_t toe; /*!< Time of Ephemeris */
int iodc; /*!< Issue of Data, Clock */
int iode; /*!< Isuse of Data, Ephemeris */
double deltan; /*!< Delta-N (radians/sec) */
double cuc; /*!< Cuc (radians) */
double cus; /*!< Cus (radians) */
double cic; /*!< Correction to inclination cos (radians) */
double cis; /*!< Correction to inclination sin (radians) */
double crc; /*!< Correction to radius cos (meters) */
double crs; /*!< Correction to radius sin (meters) */
double ecc; /*!< e Eccentricity */
double sqrta; /*!< sqrt(A) (sqrt(m)) */
double m0; /*!< Mean anamoly (radians) */
double omg0; /*!< Longitude of the ascending node (radians) */
double inc0; /*!< Inclination (radians) */
double aop;
double omgdot; /*!< Omega dot (radians/s) */
double idot; /*!< IDOT (radians/s) */
double af0; /*!< Clock offset (seconds) */
double af1; /*!< rate (sec/sec) */
double af2; /*!< acceleration (sec/sec^2) */
double tgd; /*!< Group delay L2 bias */
// Working variables follow
double n; /*!< Mean motion (Average angular velocity) */
double sq1e2; /*!< sqrt(1-e^2) */
double A; /*!< Semi-major axis */
double omgkdot; /*!< OmegaDot-OmegaEdot */
} ephem_t;
typedef struct
{
gpstime_t g;
double range; // pseudorange
double rate;
double d; // geometric distance
double azel[2];
} range_t;
/*! \brief Structure representing a Channel */
typedef struct
{
int prn; /*< PRN Number */
int ca[CA_SEQ_LEN]; /*< C/A Sequence */
double f_carr; /*< Carrier frequency */
double f_code; /*< Code frequency */
unsigned int carr_phase; /*< Carrier phase */
int carr_phasestep; /*< Carrier phasestep */
double code_phase; /*< Code phase */
gpstime_t g0; /*!< GPS time at start */
unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */
unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */
int iword; /*!< initial word */
int ibit; /*!< initial bit */
int icode; /*!< initial code */
int dataBit; /*!< current data bit */
int codeCA; /*!< current C/A code */
double azel[2];
range_t rho0;
} channel_t;
/*! \brief Subtract two vectors of double /*! \brief Subtract two vectors of double
* \param[out] y Result of subtraction * \param[out] y Result of subtraction
* \param[in] x1 Minuend of subtracion * \param[in] x1 Minuend of subtracion
@ -1575,8 +1418,8 @@ int main(int argc, char *argv[])
char umfile[MAX_CHAR]; char umfile[MAX_CHAR];
double xyz[USER_MOTION_SIZE][3]; double xyz[USER_MOTION_SIZE][3];
bool staticLocationMode = false; int staticLocationMode = FALSE;
bool nmeaGGA = false; int nmeaGGA = FALSE;
char navfile[MAX_CHAR]; char navfile[MAX_CHAR];
char outfile[MAX_CHAR]; char outfile[MAX_CHAR];
@ -1631,16 +1474,16 @@ int main(int argc, char *argv[])
break; break;
case 'u': case 'u':
strcpy(umfile, optarg); strcpy(umfile, optarg);
nmeaGGA = false; nmeaGGA = FALSE;
break; break;
case 'g': case 'g':
strcpy(umfile, optarg); strcpy(umfile, optarg);
nmeaGGA = true; nmeaGGA = TRUE;
break; break;
case 'l': case 'l':
// Static geodetic coordinates input mode // Static geodetic coordinates input mode
// Added by scateu@gmail.com // Added by scateu@gmail.com
staticLocationMode = true; staticLocationMode = TRUE;
sscanf(optarg,"%lf,%lf,%lf",&llh[0],&llh[1],&llh[2]); sscanf(optarg,"%lf,%lf,%lf",&llh[0],&llh[1],&llh[2]);
llh[0] = llh[0] / R2D; // convert to RAD llh[0] = llh[0] / R2D; // convert to RAD
llh[1] = llh[1] / R2D; // convert to RAD llh[1] = llh[1] / R2D; // convert to RAD
@ -1723,7 +1566,7 @@ int main(int argc, char *argv[])
if (!staticLocationMode) if (!staticLocationMode)
{ {
// Read user motion file // Read user motion file
if (nmeaGGA==true) if (nmeaGGA==TRUE)
numd = readNmeaGGA(xyz, umfile); numd = readNmeaGGA(xyz, umfile);
else else
numd = readUserMotion(xyz, umfile); numd = readUserMotion(xyz, umfile);
@ -2039,9 +1882,10 @@ int main(int argc, char *argv[])
} }
else // data_format==SC16 else // data_format==SC16
{ {
/*
for (isamp=0; isamp<2*iq_buff_size; isamp++) for (isamp=0; isamp<2*iq_buff_size; isamp++)
iq_buff[isamp] = iq_buff[isamp]>0?1000:-1000; // Emulated 1-bit I/Q iq_buff[isamp] = iq_buff[isamp]>0?1000:-1000; // Emulated 1-bit I/Q
*/
fwrite(iq_buff, 2, 2*iq_buff_size, fp); fwrite(iq_buff, 2, 2*iq_buff_size, fp);
} }

155
gpssim.h Normal file
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@ -0,0 +1,155 @@
#ifndef GPSSIM_H
#define GPSSIM_H
#define TRUE (1)
#define FALSE (0)
/*! \brief Maximum length of a line in a text file (RINEX, motion) */
#define MAX_CHAR (100)
/*! \brief Maximum number of satellites in RINEX file */
#define MAX_SAT (32)
/*! \brief Maximum number of channels we simulate */
#define MAX_CHAN (16)
/*! \brief Maximum number of user motion points */
#define USER_MOTION_SIZE (3000) // max duration at 10Hz
/*! \brief Number of subframes */
#define N_SBF (5) // 5 subframes per frame
/*! \brief Number of words per subframe */
#define N_DWRD_SBF (10) // 10 word per subframe
/*! \brief Number of words */
#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size
/*! \brief C/A code sequence length */
#define CA_SEQ_LEN (1023)
#define SECONDS_IN_WEEK 604800.0
#define SECONDS_IN_HALF_WEEK 302400.0
#define SECONDS_IN_DAY 86400.0
#define SECONDS_IN_HOUR 3600.0
#define SECONDS_IN_MINUTE 60.0
#define POW2_M5 0.03125
#define POW2_M19 1.907348632812500e-6
#define POW2_M29 1.862645149230957e-9
#define POW2_M31 4.656612873077393e-10
#define POW2_M33 1.164153218269348e-10
#define POW2_M43 1.136868377216160e-13
#define POW2_M55 2.775557561562891e-17
// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
#define GM_EARTH 3.986005e14
#define OMEGA_EARTH 7.2921151467e-5
#define PI 3.1415926535898
#define WGS84_RADIUS 6378137.0
#define WGS84_ECCENTRICITY 0.0818191908426
#define R2D 57.2957795131
#define SPEED_OF_LIGHT 2.99792458e8
#define LAMBDA_L1 0.190293672798365
/*! \brief GPS L1 Carrier frequency */
#define CARR_FREQ (1575.42e6)
/*! \brief C/A code frequency */
#define CODE_FREQ (1.023e6)
#define CARR_TO_CODE (1.0/1540.0)
// Sampling data format
#define SC01 (1)
#define SC08 (8)
#define SC16 (16)
#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc)
/*! \brief Structure representing GPS time */
typedef struct
{
int week; /*!< GPS week number (since January 1980) */
double sec; /*!< second inside the GPS \a week */
} gpstime_t;
/*! \brief Structure repreenting UTC time */
typedef struct
{
int y; /*!< Calendar year */
int m; /*!< Calendar month */
int d; /*!< Calendar day */
int hh; /*!< Calendar hour */
int mm; /*!< Calendar minutes */
double sec; /*!< Calendar seconds */
} datetime_t;
/*! \brief Structure representing ephemeris of a single satellite */
typedef struct
{
int vflg; /*!< Valid Flag */
datetime_t t;
gpstime_t toc; /*!< Time of Clock */
gpstime_t toe; /*!< Time of Ephemeris */
int iodc; /*!< Issue of Data, Clock */
int iode; /*!< Isuse of Data, Ephemeris */
double deltan; /*!< Delta-N (radians/sec) */
double cuc; /*!< Cuc (radians) */
double cus; /*!< Cus (radians) */
double cic; /*!< Correction to inclination cos (radians) */
double cis; /*!< Correction to inclination sin (radians) */
double crc; /*!< Correction to radius cos (meters) */
double crs; /*!< Correction to radius sin (meters) */
double ecc; /*!< e Eccentricity */
double sqrta; /*!< sqrt(A) (sqrt(m)) */
double m0; /*!< Mean anamoly (radians) */
double omg0; /*!< Longitude of the ascending node (radians) */
double inc0; /*!< Inclination (radians) */
double aop;
double omgdot; /*!< Omega dot (radians/s) */
double idot; /*!< IDOT (radians/s) */
double af0; /*!< Clock offset (seconds) */
double af1; /*!< rate (sec/sec) */
double af2; /*!< acceleration (sec/sec^2) */
double tgd; /*!< Group delay L2 bias */
// Working variables follow
double n; /*!< Mean motion (Average angular velocity) */
double sq1e2; /*!< sqrt(1-e^2) */
double A; /*!< Semi-major axis */
double omgkdot; /*!< OmegaDot-OmegaEdot */
} ephem_t;
typedef struct
{
gpstime_t g;
double range; // pseudorange
double rate;
double d; // geometric distance
double azel[2];
} range_t;
/*! \brief Structure representing a Channel */
typedef struct
{
int prn; /*< PRN Number */
int ca[CA_SEQ_LEN]; /*< C/A Sequence */
double f_carr; /*< Carrier frequency */
double f_code; /*< Code frequency */
unsigned int carr_phase; /*< Carrier phase */
int carr_phasestep; /*< Carrier phasestep */
double code_phase; /*< Code phase */
gpstime_t g0; /*!< GPS time at start */
unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */
unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */
int iword; /*!< initial word */
int ibit; /*!< initial bit */
int icode; /*!< initial code */
int dataBit; /*!< current data bit */
int codeCA; /*!< current C/A code */
double azel[2];
range_t rho0;
} channel_t;
#endif